﻿#ifndef __CAMCONTROL_H__
#define __CAMCONTROL_H__




//**********************舵机参数**********************************************
extern signed long target_offset,last_offset;
extern double Steer_kp,Steer_kd;//舵机P、D值
extern WORD Steer_PWM[4];//舵机输出值记录


//**********************电机参数**********************************************
//extern word speedcounter1,speedcounter2;
//extern signed int Error,PreError,SumError;
//extern double Speed_kp,Speed_ki,Speed_kd;	//电机PID值
//extern signed int Motor_PWM;				//电机底层控制量
//
////********************辅助调试参数******************************************
//extern unsigned int Counter_Error;		//光编接触不牢靠错误计数量
//extern unsigned int StartTime2s;		//起始线时间计算(起车2s,延时一段时间再检测起始线,第二次见到起始线停车)
//extern byte stop_delay;
//extern byte stop_flag;

//********************角度、速度控制******************************************
extern void PitISR(void);
void SteerControl(void);
void SpeedControl(void);




#endif
